An active contour-following adjustable support type precision paddy field leveling machine and leveling method

Abstract

An active contour-adjustable support-type precision paddy field grader and method are disclosed. The grader includes a frame, an active contour-adjustable support mechanism, a grading mechanism, a grading shovel height and level adjustment mechanism, and a control system. The frame is connected to a tractor via a three-point suspension device. The active contour-adjustable support mechanism is mounted on the frame, and the grading mechanism is connected to the frame via the grading shovel height and level adjustment mechanism. The active contour-adjustable support mechanism includes a mounting frame, a parallel four-bar linkage, support legs, a telescopic drive mechanism, and a force sensor. The force sensor measures in real time the load force exerted by the active contour-adjustable support mechanism on the hard paddy field substrate. The control system controls the telescopic drive mechanism to extend and retract according to changes in load force, reducing fluctuations in the grader's level and elevation due to terrain, and reducing the amplitude and frequency of changes in the grading shovel tilt angle and elevation. This invention overcomes the challenges of paddy field grading operations in various complex hard substrate environments, ensuring grading results, and belongs to the field of paddy field grading machinery technology.

Description

Technical Field

[0001] This invention relates to paddy field leveling equipment, specifically to an active contour-adjustable support type precision paddy field leveling machine, and also to an active contour-adjustable support type precision paddy field leveling method. Background Technology

[0002] Rice production primarily relies on flood irrigation and submerged irrigation, and uneven farmland leads to low water resource utilization. Improving farmland levelness not only conserves water for rice production and increases irrigation efficiency and uniformity, but also improves land utilization, rice seed germination rate, weed control efficiency, crop maturity uniformity, and crop yield, while reducing fertilizer and pesticide application. In conclusion, paddy field leveling is an essential step in rice production. Because leveling machinery for dry land is easily limited by soil type, soil moisture content, and rainfall season, paddy field leveling machinery is more advantageous in multi-season rice areas to seize the opportune time for farming.

[0003] Based on differences in their power sources, paddy field graders are divided into rice transplanter type and tractor type. Currently, many countries have implemented farmland improvement measures, and the area of ​​individual farmland is increasing, which has led to tractor-powered grading machinery becoming the mainstream. However, existing paddy field graders primarily use mid-position rotation for horizontal adjustment, concentrating the deformation stress of the grader at the rotation point, thus limiting the development of large-width paddy field graders. Furthermore, in complex, hard subsurface environments with varying potholes, existing paddy field graders are prone to lag in height and horizontal information perception and control when operating at high speeds, significantly affecting the quality and efficiency of grading operations.

[0004] Existing technologies suffer from poor adaptability, low operating efficiency, and poor quality. Therefore, this invention provides an active contour-following adjustable support-type precision paddy field grader, which optimizes the height and leveling adjustment structure of the shovel and the leveling control strategy to improve operating efficiency and quality, thus adapting to complex hard subsurface working environments. Summary of the Invention

[0005] To address the technical problems existing in the prior art, the purpose of this invention is to provide an active contour-adjustable support method for precise leveling of paddy fields, thereby optimizing the leveling control strategy.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] An active contour-following adjustable support type precision paddy field leveler includes a frame, an active contour-following adjustable support mechanism, a leveling mechanism, a leveling shovel height and level adjustment mechanism, and a control system. The frame is connected to a tractor via a three-point suspension device. The active contour-following adjustable support mechanism is mounted on the frame, and the leveling mechanism is connected to the frame via the leveling shovel height and level adjustment mechanism. There are two or more sets of active contour-following adjustable support mechanisms arranged side-by-side along the lateral direction and individually controlled by the control system. Each active contour-following adjustable support mechanism includes a mounting frame, a parallel four-bar linkage, and support feet. The system consists of a frame, a telescopic drive mechanism, and a force sensor. The mounting bracket is installed at the front of the frame. The support legs, which act on the hard subsurface, are vertically raised and lowered relative to the mounting bracket via a parallel four-bar linkage. The telescopic drive mechanism, installed between the mounting bracket and the parallel four-bar linkage, drives the support legs to rise and fall. The force sensor measures in real time the load force of the active contour-adjusting support mechanism supporting the grader on the hard subsurface of the paddy field. The control system controls the telescopic drive mechanism to extend and retract according to changes in load force, reducing fluctuations in the grader's level and elevation due to terrain, thereby reducing the amplitude and frequency of changes in the grader's shovel tilt angle and elevation.

[0008] As a preferred embodiment, when the hard base becomes higher, the load force increases, and the control system adjusts the support height of the active contour-adjusting support mechanism by controlling the telescopic drive mechanism, thereby reducing the increase in the grader height due to the increased terrain; when the hard base becomes lower, the load force decreases, and the control system adjusts the support height of the active contour-adjusting support mechanism by controlling the telescopic drive mechanism, thereby reducing the decrease in the grader height due to the decreased terrain.

[0009] As an optimal choice, the active contour-following adjustment support mechanism actively conforms to the hard substrate, rationalizes the stress on the whole machine, and reduces the changes in the level and elevation of the grader. The grader height and level adjustment mechanism further precisely adjusts the elevation and level of the grader, so that the grader returns to the reference plane.

[0010] As a preferred embodiment, the grader's height and level adjustment mechanism includes a ball joint, a tie rod, and an adjusting cylinder; there are three tie rods, one upper tie rod and two lower tie rods arranged in an isosceles triangle, with the upper tie rod located in the center of the grader; the front end of the tie rod is connected to the grader via a ball joint, and the rear end of the tie rod is rotatably connected to the frame; there are two adjusting cylinders, one of which is connected between a lower tie rod and the frame.

[0011] As a preferred embodiment, when the two adjusting cylinders extend by the same amount and extend and retract at the same speed, the upper and lower pull rods remain parallel, and the shovel face only moves vertically to achieve elevation adjustment; when the two adjusting cylinders extend and retract at different speeds, the displacement difference at the drive end is adaptively compensated for the angle deviation through the ball joint degree of freedom of the bullseye rod, and the horizontal tilt angle of the shovel face is changed synchronously to achieve tilt angle adjustment.

[0012] As a preferred option, the leveling and height adjustment mechanism of the grader is applied to graders of various widths. By setting the installation spacing between the two pull rods, the pushing resistance of the grader can be reasonably distributed, the deformation of the grader can be reduced, and the stress concentration of the grader at the rotation point can be reduced.

[0013] As a preferred embodiment, the leveling mechanism includes a leveling shovel, a folding cylinder, and a folding support assembly. The leveling shovel includes a main shovel located in the middle and two auxiliary shovels located on both sides. The rear ends of the two auxiliary shovels are connected to one side of the leveling shovel through the folding support assembly. One folding cylinder drives one auxiliary shovel to rotate relative to the main shovel.

[0014] As a preferred configuration, when the folding cylinder operates to fold the auxiliary shovel perpendicularly to the main shovel, the width of the leveling shovel is 4 meters, improving the ease of transporting the entire machine. When the folding cylinder operates to unfold the auxiliary shovel and the main shovel onto the same plane, the width is 7 meters, improving the efficiency of earthmoving during leveling operations. The folding support assembly increases the pushing force of the auxiliary shovel on the earth during operation and reduces deformation caused by obstruction.

[0015] As a preferred option, the control system controls the leveling shovel height and horizontal adjustment mechanism to achieve integrated synchronous adjustment of the leveling shovel height and horizontal tilt angle.

[0016] A method for precise leveling of paddy fields using an active contour-adjustable support system, comprising the following steps:

[0017] (1) The shovel is deployed by the control system, with the main shovel and the auxiliary shovel on the same plane;

[0018] (2) Adjust the tractor's three-point suspension to floating mode, read the information of each force sensor, adjust the active contour adjustment support mechanism to be supported on the hard bottom layer and the grader as a whole to be level, record the initial load force of each active contour adjustment support mechanism, and denot it as F;

[0019] (3) When the tractor is moving, the grader automatically adjusts its level and elevation via the active contour-adjusting support mechanism; when the real-time load F of any active contour-adjusting support mechanism... i When the initial load force is less than the initial load force, it indicates that the lower hard layer of the active contouring adjustment support mechanism has lowered. The control system controls the active contouring adjustment support mechanism to extend, thereby increasing the real-time load force. When F i =F stops the active contour-following adjustment support mechanism from extending;

[0020] When the real-time load F of any active contour-adjusting support mechanism i At the initial load force, it indicates that the lower hard layer of the active contouring adjustment support mechanism has increased in height. The control system controls the active contouring adjustment support mechanism to shorten, thereby reducing the real-time load force. When F i=F stops the active contouring adjustment support mechanism from shortening;

[0021] (4) Adjust the leveling shovel to be in a horizontal state, and set the leveling shovel height position in (2) as the leveling reference height;

[0022] (5) Obtain the real-time height of the two sets of pull-down rod ball joint position points of the flat shovel according to the sensing device, and calculate the difference with the reference height set in step (4) above;

[0023] (6) Based on the height difference information between the left and right ends of the leveling shovel, the control system independently controls two sets of adjusting cylinders so that the leveling shovel height at the ball joint position of the two sets of pull rods moves to the reference height, ensuring the integrated synchronous control of the leveling shovel height and the horizontal tilt angle.

[0024] The principle of this invention is:

[0025] Two or more active contour-following adjustment support mechanisms are installed on the front beam of the frame. By monitoring the load of each active contour-following adjustment support mechanism, the control system adaptively adjusts the extension and retraction of each mechanism, allowing them to travel along the contour of the hard ground surface. This reduces fluctuations in the overall level and elevation of the grader due to terrain, thereby reducing the amplitude and frequency of changes in the grader's shovel tilt angle and elevation. The grader mechanism is connected to the frame via a shovel height and level adjustment mechanism. The control system controls this mechanism to achieve integrated and synchronous adjustment of the shovel height and tilt angle, further adjusting the shovel's level and elevation for precise grading operations.

[0026] The present invention has the following advantages:

[0027] (1) This invention can overcome the challenges of paddy field leveling operations in various complex hard bottom environments, ensure the leveling effect, and optimize the leveling control strategy.

[0028] (2) The active contour adjustment support mechanism can be adjusted independently along the frame. When the active contour adjustment support mechanism is set to correspond to the rear wheel of the tractor, it also ensures that it travels along the hard bottom layer after the rear wheel of the tractor is compacted.

[0029] (3) Through force sensors, the load force of each active contouring adjustment support mechanism can be monitored. The control system adaptively adjusts the extension and retraction of each telescopic drive mechanism according to the change of load force, so that the grader can travel along the hard bottom contour while maintaining level and elevation.

[0030] (4) The control system independently controls two sets of adjusting cylinders, which can jointly control the height and horizontal tilt of the shovel, optimize the height and horizontal adjustment structure of the shovel, reduce the deformation of the shovel and the stress concentration caused by the deformation, and overcome the shortcomings of traditional shovels where the deformation stress is concentrated at the rotation point and is not suitable for large-width graders.

[0031] (5) The folding support assembly can improve the convenience of transporting the whole machine; during operation, it can improve the efficiency of earthmoving and reduce the deformation of the auxiliary shovel due to obstruction. Attached Figure Description

[0032] Figure 1 This is a perspective view of the grader of this invention.

[0033] Figure 2 This is a side view of the grader of the present invention.

[0034] Figure 3 It is an assembly drawing of the ball joint and the pull rod.

[0035] Figure 4 It is an assembly diagram of the ball joint and the upper tie rod.

[0036] Figure 5 This is a 3D view of the active contour-following adjustment support mechanism.

[0037] Figure 6 This is a diagram illustrating the elevation adjustment principle of the active contour-following support mechanism.

[0038] Figure 7 This is a schematic diagram of the operating principle of the height and level adjustment mechanism of the shovel.

[0039] Among them, 1 is the frame, 2 is the leveling mechanism, 3 is the sensing device, 4 is the hydraulic control system, 5 is the oil tank, 6 is the gear pump, 7 is the tie rod, 8 is the active contouring adjustment support mechanism, 9 is the leveling shovel, 10 is the mud-smoothing drag plate, 11 is the force sensor, 12 is the hanging frame, 13 is the parallel four-bar linkage, 14 is the support leg, 15 is the telescopic drive mechanism, 16 is the ball joint, 17 is the adjusting cylinder, 18 is the adjusting cylinder connector, 19 is the elastic limit mechanism, 20 is the sensing device mounting rod, 21 is the folding cylinder, and 22 is the folding support assembly. Detailed Implementation

[0040] The present invention will now be described in further detail with reference to specific embodiments.

[0041] Figure 1 and Figure 2As shown, an active contour-adjustable support type precision paddy field leveler includes a frame 1, an active contour-adjustable support mechanism 8, a leveling mechanism 2, a leveling shovel height and level adjustment mechanism, and a control system. The frame 1 is connected to a tractor via a three-point suspension device. The tractor is connected to a gear pump 6 via a drive shaft and provides power. The gear pump 6 uses hydraulic oil in an oil tank 5 as a medium to convert mechanical energy into hydraulic energy and provide the hydraulic energy to the hydraulic control system 4. The active contour-adjustable support mechanism 8 is mounted on the frame 1. The mud-smoothing drag plate 10 is limited by an elastic limiting mechanism 19. The spring in the elastic limiting mechanism 19 allows the mud-smoothing drag plate 10 to have a certain degree of freedom, thereby enabling the mud-smoothing drag plate 10 to further dynamically level the paddy field surface after it has been leveled by the leveling shovel 9. The leveling mechanism 2 is connected to the frame 1 via the leveling shovel height and level adjustment mechanism. The number of active contour-adjustable support mechanisms 8 is two or more, arranged side by side along the lateral direction, and controlled individually by the control system. Figure 5 As shown, the active contour-following adjustment support mechanism 8 includes a mounting frame 12, a parallel four-bar linkage 13, a support leg 14, a telescopic drive mechanism 15, and a force sensor 11. The mounting frame 12 is installed in front of the frame 1. The support leg 14, acting on the hard bottom layer, is vertically raised and lowered relative to the mounting frame 12 via the parallel four-bar linkage 13. The telescopic drive mechanism 15 is installed between the mounting frame 12 and the parallel four-bar linkage 13 to drive the support leg 14 to rise and fall. The force sensor 11 measures in real time the load force of the active contour-following adjustment support mechanism 8 supporting the grader on the hard bottom layer of the paddy field. The sensor mounting rod 20 is installed on both sides of the grader shovel 9, and the sensor 3 is installed above the sensor mounting rod 20. The sensor 3 on the left and right sides can measure the height and tilt angle of the grader shovel 9 in real time. The main shovel and the auxiliary shovel are connected by a folding support assembly 22. The control system controls the telescopic drive mechanism 15 to extend and retract according to the load force changes, reducing the fluctuation of the grader's level and elevation due to the terrain, thereby reducing the amplitude and frequency of changes in the tilt angle and elevation of the grader shovel 9 of the grader mechanism 2. In this embodiment, there are two active contour-adjusting support mechanisms 8, which are positioned laterally to correspond to the two rear wheels of the tractor, so that they can directly act on the hard bottom layer compacted by the rear wheels of the tractor.

[0042] When the hard base becomes higher, the load force increases. The control system adjusts the support height of the active contour-adjusting support mechanism by controlling the telescopic drive mechanism, thereby reducing the increase in the grader's height due to the increased terrain. When the hard base becomes lower, the load force decreases. The control system adjusts the support height of the active contour-adjusting support mechanism by controlling the telescopic drive mechanism, thereby reducing the decrease in the grader's height due to the decreased terrain. Figure 6 As shown, the active contour-following adjustment support mechanism travels from a flat section of road to a concave area, and then from the concave area to a convex area to perform contour-following motion, while maintaining the height of the entire machine.

[0043] The active contour-following adjustment support mechanism actively conforms to the hard bottom layer, rationalizes the stress on the whole machine, and reduces the changes in the level and elevation of the grader. The grader height and level adjustment mechanism further precisely adjusts the elevation and level of the grader, so that the grader returns to the reference plane.

[0044] The leveling and height adjustment mechanism of the grading shovel includes a ball joint, tie rods, and an adjusting cylinder; there are three tie rods, one upper tie rod ( Figure 4 (as shown) and two pull rods ( Figure 3 As shown, the components are arranged in an isosceles triangle, with the upper pull rod located in the center of the left and right sides of the grader. The front end of the pull rod is connected to the grader blade via a ball joint, and the rear end of the pull rod is rotatably connected to the frame. There are two adjusting cylinders, one of which is connected between the lower pull rod and the frame.

[0045] When the two adjusting cylinders extend by the same amount and at the same speed, the upper and lower pull rods remain parallel, and the leveling shovel face only rises and falls vertically to achieve elevation adjustment. When the two adjusting cylinders extend and retract at different speeds, the displacement difference at the drive end is adaptively compensated for by the ball joint degree of freedom of the bullseye rod, synchronously changing the horizontal tilt angle of the shovel face to achieve tilt angle adjustment. Figure 7 As shown, in state 1, the lower surface of the leveling shovel is below the reference plane. At this time, the leveling shovel height and level adjustment mechanism needs to be adjusted. The adjusting cylinder of the left end of the height and level adjustment mechanism will retract the leveling shovel to point A, and the adjusting cylinder of the right end of the height and level adjustment mechanism will retract the leveling shovel to point B, as shown in state 2, thus completing the height and level adjustment.

[0046] The leveling and height adjustment mechanism for graders is applied to graders of various widths. By setting the installation spacing between the two pull rods, the pushing resistance of the grader can be reasonably distributed, reducing the deformation of the grader and reducing the concentration of deformation stress at the rotation point.

[0047] The leveling mechanism includes a leveling shovel, a folding cylinder, and a folding support assembly. The leveling shovel includes a main shovel in the middle and two auxiliary shovels on both sides. The rear ends of the two auxiliary shovels are connected to one side of the leveling shovel through the folding support assembly. One folding cylinder drives one auxiliary shovel to rotate relative to the main shovel.

[0048] When the folding cylinder activates, the auxiliary shovel folds perpendicularly to the main shovel, resulting in a 4-meter width for the leveling shovel, improving the ease of transporting the entire machine. When the folding cylinder activates, the auxiliary shovel and main shovel unfold to the same plane, increasing the width to 7 meters, thus improving the efficiency of earthmoving during leveling operations. The folding support assembly enhances the pushing force of the auxiliary shovel on the earth during operation and reduces deformation caused by obstruction.

[0049] The control system controls the leveling mechanism of the grading shovel, enabling integrated and synchronous adjustment of the grading shovel's height and horizontal tilt angle.

[0050] A method for precise leveling of paddy fields using an active contour-adjustable support system, comprising the following steps:

[0051] (1) The shovel is deployed by the control system, with the main shovel and the auxiliary shovel on the same plane;

[0052] (2) Adjust the tractor's three-point suspension to floating mode, read the information of each force sensor, adjust the active contour adjustment support mechanism to be supported on the hard bottom layer and the grader as a whole to be level, record the initial load force of each active contour adjustment support mechanism, and denot it as F;

[0053] (3) When the tractor is moving, the grader automatically adjusts its level and elevation via the active contour-adjusting support mechanism; when the real-time load F of any active contour-adjusting support mechanism... i When the initial load force is less than the initial load force, it indicates that the lower hard layer of the active contouring adjustment support mechanism has lowered. The control system controls the active contouring adjustment support mechanism to extend, thereby increasing the real-time load force. When F i =F stops the active contour-following adjustment support mechanism from extending;

[0054] When the real-time load F of any active contour-adjusting support mechanism i At the initial load force, it indicates that the lower hard layer of the active contouring adjustment support mechanism has increased in height. The control system controls the active contouring adjustment support mechanism to shorten, thereby reducing the real-time load force. When F i =F stops the active contouring adjustment support mechanism from shortening;

[0055] (4) Adjust the leveling shovel to be in a horizontal state, and set the leveling shovel height position in (2) as the leveling reference height;

[0056] (5) Obtain the real-time height of the two sets of pull-down rod ball joint position points of the flat shovel according to the sensing device, and calculate the difference with the reference height set in step (4) above;

[0057] (6) Based on the height difference information between the left and right ends of the leveling shovel, the control system independently controls two sets of adjusting cylinders so that the leveling shovel height at the ball joint position of the two sets of pull rods moves to the reference height, ensuring the integrated synchronous control of the leveling shovel height and the horizontal tilt angle.

[0058] The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present invention shall be considered equivalent substitutions and shall be included within the protection scope of the present invention.

Claims

1. An active contour-following adjustable support type precision paddy field leveling machine, characterized in that, It includes a frame, an active contour-adjusting support mechanism, a leveling mechanism, a leveling shovel height and level adjustment mechanism, and a control system; the frame is connected to the tractor via a three-point suspension device; the active contour-adjusting support mechanism is mounted on the frame, and the leveling mechanism is connected to the frame via the leveling shovel height and level adjustment mechanism; there are two or more sets of active contour-adjusting support mechanisms, arranged side by side along the lateral direction, and each is individually controlled by the control system; The active contour-adjusting support mechanism includes a mounting frame, a parallel four-bar linkage, support legs, a telescopic drive mechanism, and a force sensor. The mounting frame is installed in front of the machine frame. The support legs, which act on the hard bottom layer, are vertically raised and lowered relative to the mounting frame via the parallel four-bar linkage. The telescopic drive mechanism is installed between the mounting frame and the parallel four-bar linkage to drive the support legs to rise and fall. The force sensor measures in real time the load force that the active contour-adjusting support mechanism uses to support the grader on the hard bottom layer of the paddy field. The control system controls the extension and retraction of the telescopic drive mechanism according to the load force changes, reducing the fluctuation of the level and elevation of the grader due to the terrain, thereby reducing the amplitude and frequency of changes in the tilt angle and elevation of the grader mechanism. The grader's height and level adjustment mechanism includes a ball joint, tie rods, and adjusting cylinders. There are three tie rods: one upper tie rod and two lower tie rods arranged in an isosceles triangle, with the upper tie rod located in the center of the grader. The front end of the tie rod is connected to the grader via a ball joint, and the rear end of the tie rod is rotatably connected to the frame. There are two adjusting cylinders: one adjusting cylinder is connected between one of the lower tie rods and the frame. When the two adjusting cylinders extend at the same speed, the upper and lower levers remain parallel, and the shovel face only moves vertically to adjust the elevation. When the two adjusting cylinders extend at different speeds, the displacement difference at the drive end is adaptively compensated for by the angular deviation through the ball joint degree of freedom of the lower lever, and the horizontal tilt angle of the shovel face is changed synchronously to achieve tilt angle adjustment.

2. The active contour-following adjustable support type precision paddy field leveling machine according to claim 1, characterized in that: When the hard base becomes higher, the load force increases. The control system adjusts the support height of the active contour-adjusting support mechanism by controlling the telescopic drive mechanism, thereby reducing the increase in the grader's height due to the increased terrain. When the hard base becomes lower, the load force decreases. The control system adjusts the support height of the active contour-adjusting support mechanism by controlling the telescopic drive mechanism, thereby reducing the decrease in the grader's height due to the decreased terrain.

3. The active contour-following adjustable support type precision paddy field leveling machine according to claim 1, characterized in that: The active contour-following adjustment support mechanism actively conforms to the hard bottom layer, rationalizes the stress on the whole machine, and reduces the changes in the level and elevation of the grader. The grader height and level adjustment mechanism further precisely adjusts the elevation and level of the grader, so that the grader returns to the reference plane.

4. The active contour-following adjustable support type precision paddy field leveling machine according to claim 1, characterized in that: The leveling and height adjustment mechanism for graders is applied to graders of various widths. By setting the installation spacing between the two pull rods, the pushing resistance of the grader can be reasonably distributed, reducing the deformation of the grader and reducing the concentration of deformation stress at the rotation point.

5. The active contour-following adjustable support type precision paddy field leveling machine according to claim 1, characterized in that: The leveling mechanism includes a leveling shovel, a folding cylinder, and a folding support assembly. The leveling shovel includes a main shovel in the middle and two auxiliary shovels on both sides. The rear ends of the two auxiliary shovels are connected to one side of the leveling shovel through the folding support assembly. One folding cylinder drives one auxiliary shovel to rotate relative to the main shovel.

6. The active contour-following adjustable support type precision paddy field leveling machine according to claim 5, characterized in that: When the folding cylinder is activated, the auxiliary shovel folds perpendicularly to the main shovel, at which point the width of the leveling shovel is 4 meters, which improves the convenience of transporting the whole machine; when the folding cylinder is activated, the auxiliary shovel and the main shovel unfold on the same plane, at which point the width is 7 meters, which improves the efficiency of earthmoving in leveling operations.

7. The active contour-following adjustable support type precision paddy field leveling machine according to claim 1, characterized in that: The control system controls the leveling mechanism of the grading shovel, enabling integrated and synchronous adjustment of the grading shovel's height and horizontal tilt angle.

8. A method for precise leveling of paddy fields using an active contour-adjustable support system, employing an active contour-adjustable support system for precise leveling of paddy fields as described in any one of claims 1 to 7, characterized in that... Includes the following steps: (1) The shovel is deployed by the control system, with the main shovel and the auxiliary shovel on the same plane; (2) Adjust the tractor's three-point suspension to floating mode, read the information of each force sensor, adjust the active contour adjustment support mechanism to be supported on the hard bottom layer and the grader as a whole to be level, record the initial load force of each active contour adjustment support mechanism, and denot it as F; (3) When the tractor is moving, the grader automatically adjusts its level and elevation via the active contour-adjusting support mechanism; when the real-time load F of any active contour-adjusting support mechanism... i When the initial load force is less than the initial load force, it indicates that the lower hard layer of the active contouring adjustment support mechanism has lowered. The control system controls the active contouring adjustment support mechanism to extend, thereby increasing the real-time load force. When F i When the value is equal to F, the active contour-following adjustment support mechanism stops extending. When the real-time load F of any active contour-adjusting support mechanism i At the initial load force, it indicates that the lower hard layer of the active contouring adjustment support mechanism has increased in height. The control system controls the active contouring adjustment support mechanism to shorten, thereby reducing the real-time load force. When F i =F stops the active contouring adjustment support mechanism from shortening; (4) Adjust the leveling shovel to a horizontal position and set the leveling shovel height position in step (2) to the leveling reference height; (5) Obtain the real-time height of the flat shovel at the position point of the ball joint of the two pull rods respectively according to the sensing device, and calculate the difference with the reference height set in step (4) above; (6) Based on the height difference information between the left and right ends of the shovel, the control system independently controls two adjusting cylinders so that the height of the shovel at the ball joint position of the two pull rods moves to the reference height, ensuring the integrated synchronous control of the shovel height and the horizontal tilt angle.

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